Defect checking and detecting device for municipal drainage pipeline

Abstract

The invention discloses a municipal drainage pipeline defect checking and detecting device, and relates to the technical field of pipeline defect detection.The municipal drainage pipeline defect checking and detecting device comprises a detecting module, the detecting module comprises a jet frame, a flow dividing base is fixed to one end of the jet frame, a circular cavity is formed in the flow dividing base, and a plurality of outlets are connected to the circumference of the circular cavity; the outlet is connected with a spray head, a pipe body of the spray head is of a hose structure, the side, facing the jet flow frame, of the flow dividing base is movably sleeved with a sliding frame, connecting assemblies corresponding to the spray heads are arranged on the periphery of the sliding frame, the other ends of the connecting assemblies are connected with the spray heads, and the sliding frame comprises a shell cover and an inner sliding barrel; a plurality of connecting blocks are connected between the opening side of the inner sliding barrel and the outer shell cover, a valve barrel is rotationally arranged in the circular cavity, and circular holes corresponding to the outlets are formed in the valve barrel. According to the invention, the pertinence and efficiency of pipeline cleaning are improved, so that the accuracy of pipeline detection is improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline defect detection technology, specifically a defect detection device for municipal drainage pipelines. Background Technology

[0002] Municipal drainage pipelines primarily transport domestic sewage, industrial wastewater, and rainwater. Different media place varying demands on the pipelines' corrosion resistance and anti-clogging capabilities. Furthermore, the flow rate of drainage pipelines varies significantly due to factors such as season, weather, and time of day. For example, rainwater drainage pipelines experience a surge in flow during the rainy season, while the flow rate is relatively low during the dry season; domestic sewage pipelines see higher flow rates during peak water usage periods and lower flow rates at night. This instability in flow rate necessitates that the pipeline system possess excellent regulation and adaptability.

[0003] When the flow rate in a pipe changes suddenly, the water velocity also changes drastically, resulting in water hammer. Water hammer generates enormous instantaneous pressure, with peak pressures potentially far exceeding the pipe's normal operating pressure. This instantaneous high-pressure impact exerts a tremendous force on the pipe walls, easily leading to pipe deformation and rupture. Therefore, drainage pipes require sufficient strength and pressure resistance.

[0004] To maximize the lifespan of drainage pipes and reduce frequent problems during use, performance testing is necessary during the design phase. However, due to the complexity of pipe connections, troubleshooting defects after testing is challenging. Therefore, a pipe defect detection device is needed to assist in collecting performance test results. Summary of the Invention

[0005] The purpose of this invention is to provide a defect detection device for municipal drainage pipelines to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a defect detection device for municipal drainage pipelines, comprising a climbing module, an intermediate support module, a power module, and a detection module. The climbing module, the intermediate support module, and the power module are connected by a flexible shaft. The detection module includes a jet frame, which is installed at the end of the climbing module. A flow divider is fixed at the other end of the jet frame. A circular cavity is opened inside the flow divider, and several outlets are connected around the circumference of the circular cavity. The outlets are connected to nozzles. The nozzle tube body adopts a flexible hose structure. A slide is movably fitted on the side of the flow divider facing the jet frame. A connecting component is provided around the slide corresponding to each nozzle. The other end of the connecting component is connected to the nozzle.

[0007] According to the above technical solution, the slide includes an outer shell and an inner slide cylinder. The inner slide cylinder is a hollow structure with an opening on one side facing the jet frame. Several connecting blocks are connected between the opening side of the inner slide cylinder and the outer shell. The inner slide cylinder has a long groove on its circumference that matches the number of nozzles. A valve cylinder is rotatably installed in the circular cavity. The valve cylinder is sleeved on the outside of the inner slide cylinder and moves in cooperation with it. The valve cylinder has a circular hole corresponding to each outlet.

[0008] According to the above technical solution, a limiting plate is fixed on the side of the diverter facing the slide. An inlet is opened in the middle of the limiting plate, and a through groove is opened on the circumference of the limiting plate to cooperate with the sliding of the inner slide cylinder. A hose is connected to the outside of the inlet, and the other end of the hose passes through the opening side of the inner slide cylinder and is connected to the pump body.

[0009] According to the above technical solution, the connecting component includes a connecting seat, a connecting rod is hinged to the connecting seat, a ring is installed at the other end of the connecting rod, the ring is sleeved on the nozzle, a pull rod is hinged to one side of the connecting rod, and the other end of the pull rod is hinged to the slide.

[0010] According to the above technical solution, an electromagnetic groove is provided on the side of the valve cylinder away from the limiting plate, and an electromagnetic ring is provided on the outer side of the valve cylinder relative to the electromagnetic groove. A magnetic suction layer is laid on the inner wall surface of the circular cavity corresponding to the electromagnetic ring. A drive ring is rotatably connected to the electromagnetic groove. A magnetic suction block is provided on the drive ring in conjunction with the electromagnetic groove. Side teeth are provided on the outer surface of the drive ring, and a camera is installed on the drive ring.

[0011] According to the above technical solution, the side teeth are connected to the drive teeth, the drive teeth are connected to the driver, and the driver is installed on the distributor seat.

[0012] According to the above technical solution, an arc block is provided on the diverter seat, and a gear ring is connected to the arc block. The gear ring is in contact with the drive gear, and several inclined rods are connected around the circumference of the gear ring. The inclined rods are hinged to a movable seat.

[0013] According to the above technical solution, the movable seat has an internal cavity containing a counterweight. A brush block and a scraper are provided on the outward side of the movable seat. The scraper plate is close to the brush block, and the scraper head is bent away from the brush block.

[0014] According to the above technical solution, the jet frame includes two base plates and several side plates. The two base plates are fixed to the climbing module and the diverter seat respectively. The side plates are used to connect the two base plates. The base plates have holes in the middle to allow the hose to pass through.

[0015] According to the above technical solution, the climbing module includes a mounting bracket, which is set as a triangular structure and has a cylinder on each of the three sides. The driving end of the cylinder is fixed with a top plate, and the two ends of the top plate are rotatably connected to tilting rollers.

[0016] According to the above technical solution, the power module includes a second driver, the driving end of the second driver is connected to a corresponding flexible shaft, a sleeve is sleeved on the outside of the second driver, several support plates are fixed on the outside of the sleeve, a second cylinder is installed between the support plates, an arc-shaped support plate is fixed on the driving end of the second cylinder, and forward rollers are installed at both ends of the arc-shaped support plate.

[0017] According to the above technical solution, the structure of the intermediate support module is the same as that of the power module. The second driver of the power module is replaced with a general long shaft to assist the device in turning.

[0018] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention, by setting up a detection module and switching the pump body's suction mode, uses fluid pressure and negative pressure to drive the slide to move, thereby adjusting the pitch angle of all nozzles in real time through a linkage mechanism. No additional complex motor drive is required; the nozzle attitude can be precisely controlled solely by the fluid itself. Combined with a camera, the device can perform adaptive cleaning according to the actual conditions inside the pipeline (such as raising the spray for siltation in front and spraying horizontally for adhesion on the side walls), greatly improving the targeting and efficiency of cleaning, thereby improving the accuracy of pipeline inspection.

[0019] By controlling the energization of the electromagnetic groove and the electromagnetic ring respectively, the driver can switch between two modes: one is to drive the valve cylinder to rotate to switch each nozzle on and off; the other is to fix the valve cylinder and only control the drive ring and gear ring to rotate.

[0020] Multiple inclined rod-shaped movable seats with counterweights are driven by a gear ring, using centrifugal force to press them tightly against the inner wall of the pipe. This design is adaptable to pipes of different diameters, offering high versatility. Simultaneously, the movable seats integrate brushes and scrapers; by changing the rotation direction, the "brushing" or "scraping" function can be selectively used to address different types of contaminants on the pipe wall (such as soft dirt and hard scale). The counterweights increase the pressure of the cleaning components on the pipe wall, thereby improving the cleaning effect. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0022] Figure 1 This is a schematic diagram of the overall structure of the detection device of the present invention;

[0023] Figure 2 This is a schematic diagram of the detection module of the present invention;

[0024] Figure 3 This is the present invention. Figure 2 Enlarged diagram of area A;

[0025] Figure 4This is the present invention. Figure 2 Enlarged diagram of area B;

[0026] Figure 5 This is an exploded view of the slide, limiting plate, valve cylinder and drive ring of the present invention;

[0027] Figure 6 This is a partial cross-sectional view of the detection device of the present invention;

[0028] Figure 7 This is a schematic diagram of the structure of the flow divider of the present invention;

[0029] Figure 8 This is a partial cross-sectional view of the movable seat of the present invention;

[0030] Figure 9 This is a schematic diagram of the connection structure of the driver of the present invention;

[0031] Figure 10 This is a schematic diagram of the jet generator structure of the present invention;

[0032] Figure 11 This is a schematic diagram of the climbing module of the present invention;

[0033] Figure 12 This is a schematic diagram of the power module of the present invention.

[0034] In the diagram: 1. Climbing module; 11. Mounting bracket; 12. Cylinder 1; 13. Top plate; 14. Tilting roller; 2. Intermediate support module; 3. Power module; 31. Driver 2; 32. Sleeve; 33. Support plate; 34. Cylinder 2; 35. Arc-shaped support plate; 36. Forward roller; 4. Detection module; 41. Jet frame; 42. Flow divider; 421. Circular cavity; 422. Outlet; 423. Nozzle; 424. Valve cylinder; 4241. Circular hole; 4242. Electromagnetic groove; 4243. Electromagnetic ring; 425. Arc block; 43 431. Carriage; 432. Outer shell; 433. Inner slide cylinder; 434. Connecting block; 435. Long slot; 44. Limiting plate; 446. Inlet; 447. Through slot; 458. Connecting seat; 459. Connecting rod; 450. Ring sleeve; 451. Pull rod; 460. Drive ring; 461. Magnetic block; 462. Side tooth; 463. Drive tooth; 464. Driver 1; 47. Camera; 48. Gear ring; 481. Diagonal bar; 49. Movable seat; 492. Receiving cavity; 493. Counterweight; 494. Brush block; 495. Scraper; 5. Flexible shaft. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Please see Figures 1-12 The present invention provides a technical solution: a defect detection device for municipal drainage pipelines, comprising a climbing module 1, an intermediate support module 2, a power module 3, and a detection module 4. A flexible shaft 5 is connected between the climbing module 1, the intermediate support module 2, and the power module 3. The detection module 4 includes a jet frame 41, which is installed at the end of the climbing module 1. A diverter seat 42 is fixed at the other end of the jet frame 41. A circular cavity 421 is opened inside the diverter seat 421. Several outlets 422 are connected around the circumference of the circular cavity 421. The outlets 422 are connected to nozzles 423. The nozzles 423 have a flexible tube structure. A slide 43 is movably fitted on the side of the diverter seat 42 facing the jet frame 41. A connecting component is provided around the slide 43 corresponding to each nozzle 423. The other end of the connecting component is connected to the nozzle 423.

[0037] like Figure 5 , Figure 6 As shown, the slide 43 includes an outer shell 431 and an inner slide cylinder 432. The inner slide cylinder 432 is a hollow structure with an opening on one side facing the jet frame 41. Several connecting blocks 433 are connected between the opening side of the inner slide cylinder 432 and the outer shell 431. The inner slide cylinder 432 has long slots 434 on its circumference, which are the same number as the nozzles 423. A valve cylinder 424 is rotatably installed in the circular cavity 421. The valve cylinder 424 is sleeved on the outside of the inner slide cylinder 432 and is movable with it. The valve cylinder 424 has a circular hole 4241 corresponding to each outlet 422.

[0038] The following is a supplementary explanation based on the above structure: The open side of the inner slide cylinder 432 is used for water input. When the outlet 422 is misaligned with the circular hole 4241, the interior of the inner slide cylinder 432 is relatively closed. If water (or air) is input, the water pushes the inner slide cylinder 432 to move inward within the valve cylinder 424. At the same time, the inner slide cylinder 432 drives the outer casing 431 to push the connecting assembly through the connecting block 433, causing the connecting assembly to lift the nozzle 423, thereby increasing the spray angle of the nozzle 423. On the other hand, if gas is extracted, a negative pressure is generated inside the inner slide cylinder 432, pulling the inner slide cylinder 432 to move outward within the valve cylinder 424. At the same time, the inner slide cylinder 432 pulls the connecting assembly, causing the connecting assembly to pull down the nozzle 423, thereby lowering the spray angle of the nozzle 423.

[0039] Furthermore, a limiting plate 44 is fixed on the side of the diverter seat 42 facing the slide 43. An inlet 441 is opened in the middle of the limiting plate 44. A through groove 442 that cooperates with the inner slide cylinder 432 is opened around the circumference of the limiting plate 44. A hose is connected to the inlet 441. The other end of the hose passes through the opening side of the inner slide cylinder 432 and is connected to a pump body.

[0040] In actual operation, the pump body can change the space between the limiting plate 44 and the inner slide cylinder 432 by switching the input and output states. The through groove 442 is used for guidance and limiting, and assists the sliding of the inner slide cylinder 432. Specifically, when the pump body pumps the medium (water or gas) into the inner slide cylinder 432, the pressure causes the closed end of the inner slide cylinder 432 to move away from the limiting plate 44; when the pump body draws the medium from the inner slide cylinder 432, the negative pressure causes the closed end of the inner slide cylinder 432 to move closer to the limiting plate 44.

[0041] In one embodiment, such as Figure 2 , Figure 3 As shown, the connecting assembly includes a connecting seat 451, a connecting rod 452 is hinged to the connecting seat 451, a ring 453 is installed at the other end of the connecting rod 452, the ring 453 is sleeved on the nozzle 423, a pull rod 454 is hinged to one side of the connecting rod 452, and the other end of the pull rod 454 is hinged to the slide 43.

[0042] In actual operation, the pull rod 454 moves with the slide 43. When the slide 43 moves down, the pull rod 454 pulls the connecting rod 452, causing the ring 453 to swing downward, which in turn pulls the corresponding nozzle 423 and adjusts the spray angle downward. When the slide 43 moves up, the pull rod 454 pushes the connecting rod 452, causing the ring 453 to swing upward, which in turn pushes the corresponding nozzle 423 and adjusts the spray angle upward.

[0043] like Figure 5 As shown, an electromagnetic groove 4242 is provided on the side of the valve cylinder 424 away from the limiting plate 44. An electromagnetic ring 4243 is provided on the outer side of the valve cylinder 424 relative to the electromagnetic groove 4242. A magnetic layer is laid on the inner wall surface of the circular cavity 421 corresponding to the electromagnetic ring 4243. A drive ring 46 is rotatably connected to the electromagnetic groove 4242. A magnetic block 461 is provided on the drive ring 46 in conjunction with the electromagnetic groove 4242. A side tooth 462 is provided on the outer surface of the drive ring 46. A camera 47 is installed on the drive ring 46.

[0044] like Figure 6 As shown, the side tooth 462 is connected to the drive tooth 463, the drive tooth 463 is connected to the driver 464, and the driver 464 is mounted on the distributor 42.

[0045] It should be further explained that: Driver 464 controls the rotation of drive ring 46 via drive gear 463, and the energization states of electromagnetic groove 4242 and electromagnetic ring 4243 are staggered. When electromagnetic groove 4242 is energized and electromagnetic ring 4243 is de-energized, electromagnetic groove 4242 generates an attractive force and is tightly connected to magnetic block 461, and electromagnetic ring 4243 rotates and engages with the inner wall of circular cavity 421. At this time, driver 464 can simultaneously control the rotation of valve cylinder 424, thereby controlling the positional relationship between circular hole 4241 and outlet 422. When electromagnetic groove 4242 is de-energized and electromagnetic ring 4243 is energized, electromagnetic ring 4243 generates an attractive force and is tightly connected to the inner wall of circular cavity 421, and electromagnetic groove 4242 rotates and engages with magnetic block 461. At this time, driver 464 only drives drive ring 46 to rotate.

[0046] Furthermore, such as Figure 4 , Figure 7 As shown, an arc block 425 is provided on the diverter seat 42, and a gear ring 48 is connected to the arc block 425. The gear ring 48 is engaged with the drive gear 463. Several inclined rods 481 are connected to the circumference of the gear ring 48, and the inclined rods 481 are hinged to the movable seat 49.

[0047] Furthermore, such as Figure 8 As shown, the movable seat 49 has a cavity 491 inside, and a counterweight 492 is placed inside the cavity 491. A brush block 493 and a scraper 494 are arranged on the outward side of the movable seat 49. The scraper 494 is close to the brush block 493, and the scraper head of the scraper 494 is bent away from the brush block 493.

[0048] In actual operation, the opening amplitude of the inclined rod 481 is less than the minimum radius of the pipe, and the movable seat 49 can adapt to the inner wall of pipes with different diameters through centrifugal force. After the valve cylinder 424 is adjusted, the driver 464 is disengaged from it and controls the rotation of each inclined rod 481 through the gear ring 48. Different rotation speeds generate different magnitudes of centrifugal force, causing the movable seat 49 to press against the inner wall of the pipe. At the same time, depending on the direction of rotation, the brush block 493 and scraper 494 can be controlled to contact the wall surface according to the state of dirt on the inner wall of the pipe. The counterweight 492 is used to increase the cleaning pressure of the brush block 493 and scraper 494 on the inner wall of the pipe. When the brush block 493 contacts the wall surface, the scraper 494 provides support.

[0049] Optional, such as Figure 10 As shown, the jet frame 41 includes two base plates and several side plates. The two base plates are fixed to the climbing module 1 and the diverter seat 42 respectively. The side plates are used to connect the two base plates. The base plates have holes in the middle for the hose to pass through.

[0050] like Figure 11As shown, the climbing module 1 includes a mounting bracket 11. The mounting bracket 11 is configured as a triangular structure and a cylinder 12 is mounted on each of the three sides. The driving end of the cylinder 12 is fixed with a top plate 13, and the two ends of the top plate 13 are rotatably connected to tilting rollers 14.

[0051] like Figure 12 As shown, the power module 3 includes a second driver 31. The driving end of the second driver 31 is connected to the corresponding flexible shaft 5. A sleeve 32 is sleeved on the outside of the second driver 31. Several support plates 33 are fixed on the outside of the sleeve 32. A second cylinder 34 is installed between the support plates 33. An arc-shaped support plate 35 is fixed on the driving end of the second cylinder 34. A forward roller 36 is installed at both ends of the arc-shaped support plate 35.

[0052] like Figure 1 As shown, the structure of the intermediate support module 2 is the same as that of the power module 3, except that the driver 31 of the power module 3 is replaced with a general long shaft to assist the device in turning.

[0053] In actual operation, the detection device adopts a spiral propulsion structure. The axial rotation of the main drive motor, i.e., the second driver 31, is transmitted to the spiral wheel (tilting roller 14) through the transmission conversion mechanism (intermediate support module 2 and flexible shaft 5), so that the spiral wheel forms a spiral motion trajectory on the inner wall of the pipe, similar to the rotation and advancement of a bolt in a nut, thereby driving the device to move axially along the pipe.

[0054] The specific testing methods are as follows:

[0055] Step 1: Pre-processing and preliminary exploration.

[0056] Device insertion and positioning: The device is inserted into the pipeline to be inspected. Power module 3 is activated, and driver 31 drives the tilting roller 14 of climbing module 1 via flexible shaft 5, causing the device to begin moving within the pipeline in a helical propulsion manner. The arc-shaped support plate 35 and forward roller 36 of intermediate support module 2 and power module 3 unfold under the action of cylinders, providing stable radial support for the device within the pipeline and ensuring smooth movement.

[0057] b. After a preliminary environmental scan, upon reaching the area to be inspected, proceed pausing. The camera 47 and its accompanying lighting system of the inspection module 4 are activated (optional; a night vision camera can be used to replace the camera 47). The electromagnetic ring 4242 is energized (locked to the inner wall of the circular cavity 421), while the electromagnetic groove 4243 is de-energized (disengaged from the drive ring 46). At this time, the driver 464 is activated, which drives the drive ring 46, on which the camera 47 is mounted, to rotate 360° only through the drive teeth 463 and the side teeth 462. The operator can perform a rapid global scan of the inner wall of the pipes surrounding the device using the real-time image transmitted from the camera 47, making a preliminary assessment of the approximate distribution of blockages, corrosion, cracks, or deposits.

[0058] Phase Two: Detailed Detection and Target Locking.

[0059] A. Focused detection and lesion confirmation: If a suspicious area is found during the initial scan, the actuator 464 is controlled to precisely position the camera 47 at that location, and zoom or adjust the focus for close-up, high-definition observation to confirm the nature, severity, and specific extent of the problem. During this stage, the valve cylinder 424 remains fixed (the electromagnetic ring 4242 is energized), and only the actuator ring 46 and the camera 47 are activated.

[0060] b. Coordinate the detection and cleaning of the flow channel to identify the lesion area that needs to be cleaned or treated, and associate the location information of the area with the cleaning actuator (nozzle 423).

[0061] Phase 3: Precision cleaning guided by testing.

[0062] Keep camera 47 continuously pointed at the area to be cleaned. Start the pump and dynamically adjust the position of carriage 43 by pumping in or extracting the medium, thereby changing the spray angle of the nozzle 423 aimed at the lesion area to achieve the most effective impact cleaning. Camera 47 continuously monitors the cleaning process and transmits the cleaning effect back in real time. The operator can judge whether the cleaning is clean based on the image and adjust the water pressure, spray angle, and cleaning range in real time.

[0063] Furthermore, for stubborn dirt, the mechanical cleaning function needs to be activated. The drive gear 463 controls the rotation of the gear ring 48, causing the inclined rod 481 and movable seat 49 to open. The centrifugal force is adjusted by controlling the rotation speed, allowing the brush block 493 or scraper 494 to contact and press against the affected area on the inner wall of the pipe with appropriate pressure. Depending on the nature of the dirt (soft oil or hard scale), the direction of rotation of the gear ring 48 is changed to select whether the brush block 493 (for scrubbing) or scraper 494 (for scraping) contacts the wall surface. The camera 47 allows close observation of the mechanical cleaning process and its effect, ensuring thorough cleaning without damaging the pipe wall.

[0064] Phase 4: Detailed inspection after cleaning.

[0065] Camera 47 scans the cleaned pipe wall to analyze whether there are any defects and to determine the type of defects.

[0066] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0067] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A defect detection device for municipal drainage pipelines, comprising a climbing module (1), an intermediate support module (2), a power module (3), and a detection module (4), characterized in that, A flexible shaft (5) connects the climbing module (1), the intermediate support module (2), and the power module (3). The detection module (4) includes a jet frame (41), which is installed at the end of the climbing module (1). A flow divider (42) is fixed at the other end of the jet frame (41). A circular cavity (421) is opened inside the flow divider (421). Several outlets (422) are connected around the circumference of the circular cavity (421). A nozzle (423) is connected to the outlet (422). The nozzle (423) has a flexible tube structure. A slide (43) is movably fitted on the side of the flow divider (42) facing the jet frame (41). A connecting component is provided around the slide (43) corresponding to each nozzle (423). The other end of the connecting component is connected to the nozzle (423). The slide (43) includes an outer shell (431) and an inner slide cylinder (432). The inner slide cylinder (432) is hollow and has an opening on one side facing the jet frame (41). Several connecting blocks (433) are connected between the opening side of the inner slide cylinder (432) and the outer shell (431). The inner slide cylinder (432) has long slots (434) on its circumference, which are the same number as the nozzles (423). A valve cylinder (424) is rotatably disposed in the circular cavity (421). The valve cylinder (424) is sleeved on the outside of the inner slide cylinder (432) and moves in cooperation with it. The valve cylinder (424) has a circular hole (4241) corresponding to each of the outlets (422).

2. The defect detection device for municipal drainage pipelines according to claim 1, characterized in that, The diverter seat (42) is fixed with a limiting plate (44) on the side facing the slide (43). The limiting plate (44) has an inlet (441) in the middle and a through groove (442) that slides with the inner slide cylinder (432) around its circumference. A hose is connected to the inlet (441), and the other end of the hose passes through the opening side of the inner slide cylinder (432) and is connected to a pump body.

3. The defect detection device for municipal drainage pipelines according to claim 2, characterized in that, The connecting assembly includes a connecting seat (451), which is hinged to a connecting rod (452). A ring sleeve (453) is installed at the other end of the connecting rod (452). The ring sleeve (453) is fitted onto the nozzle (423). A pull rod (454) is hinged to one side of the connecting rod (452), and the other end of the pull rod (454) is hinged to the slide (43).

4. The defect detection device for municipal drainage pipelines according to claim 3, characterized in that, The valve cylinder (424) has an electromagnetic groove (4242) on the side away from the limiting plate (44). An electromagnetic ring (4243) is provided on the outer side of the valve cylinder (424) relative to the electromagnetic groove (4242). A magnetic layer is laid on the inner wall surface of the circular cavity (421) corresponding to the electromagnetic ring (4243). A drive ring (46) is rotatably connected to the electromagnetic groove (4242). A magnetic block (461) is provided on the drive ring (46) in cooperation with the electromagnetic groove (4242). A side tooth (462) is provided on the outer surface of the drive ring (46). A camera (47) is installed on the drive ring (46).

5. The defect detection and inspection device for municipal drainage pipelines according to claim 4, characterized in that, The side teeth (462) are connected to the drive teeth (463), and the drive teeth (463) are connected to the driver (464), which is mounted on the distributor (42).

6. The defect detection device for municipal drainage pipelines according to claim 5, characterized in that, The diverter seat (42) is provided with an arc block (425), which is connected to a gear ring (48). The gear ring (48) is engaged with the drive gear (463). The gear ring (48) is circumferentially connected with several inclined rods (481), and the inclined rods (481) are hinged to a movable seat (49).

7. A defect detection and inspection device for municipal drainage pipelines according to claim 6, characterized in that, The movable seat (49) has an internal cavity (491) and a counterweight (492) is placed inside the cavity (491). A brush block (493) and a scraper (494) are arranged on the outward side of the movable seat (49). The scraper (494) is close to the brush block (493) and the scraper head of the scraper (494) is bent away from the brush block (493).

8. A defect detection and inspection device for municipal drainage pipelines according to claim 7, characterized in that, The jet frame (41) includes two base plates and several side plates. The two base plates are respectively fixed to the climbing module (1) and the diverter seat (42). The side plates are used to connect the two base plates. The base plates have holes in the middle for the hose to pass through.

9. A defect detection and inspection device for municipal drainage pipelines according to claim 8, characterized in that, The climbing module (1) includes a mounting bracket (11), which is configured as a triangular structure and has cylinders (12) mounted on three sides. The driving end of the cylinders (12) is fixed with a top plate (13), and the top plate (13) is rotatably connected to inclined rollers (14) at both ends.

10. A defect detection and inspection device for municipal drainage pipelines according to claim 9, characterized in that, The power module (3) includes a second driver (31), the driving end of the second driver (31) is connected to the corresponding flexible shaft (5), a sleeve (32) is sleeved on the outside of the second driver (31), a plurality of support plates (33) are fixed on the outside of the sleeve (32), a second cylinder (34) is installed between the support plates (33), an arc-shaped support plate (35) is fixed on the driving end of the second cylinder (34), and forward rollers (36) are installed at both ends of the arc-shaped support plate (35).

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